This thesis presents a novel control architecture, Samba, for reactive task execution. Reactive task execution implies goal-oriented and reactive properties from a robot and the ability to execute several tasks at the same time, also in a dynamic environment. These requirements are fulfilled in Samba by the representations of goals, intermediate results, and robot actions. The key idea in Samba...

spinal cord compression due to extramedullary hematopoiesis is a well-described and rare syndrome encountered in several hematological disorders including β-thalassemia. hereby, a 37-year old pregnant woman with intermediate β -thalassemia with paraparesis and lower limb hypoesthesia was presented. mri showed soft tissue masses in both sides of thoracic paraspinal area. histologically, a mixtur...

background: &beta-thalassemia; is the most common monogenic disorder in human. the (ct) polymorphism at -158 upstream region of the &gammag-globin; gene and pharmacological factors such as hydroxyurea have been reported to influence &gamma-globin; gene expression and the severity of clinical symptoms of &beta-thalassemia.; methods: in the present study, 51 &beta-thalassemia; intermediate patie...

Data from direct numerical simulations (DNS) of fully-developed turbulent channel flows subjected to a constant surface heat-flux are used to explore the scaling behaviours admitted by the mean thermal energy equation. Following the framework of Wei et al. (2005) [1,2], the analysis employs a theory based on the magnitude ordering of terms in the mean thermal energy equation of wall-bounded tur...

Objective The surgical repair of hypospadias is done in two stages in a select group of patients with severe anomaly. The first stage (I) procedure consists of correction of penile shaft curvature and second stage (II) repair involves the creation of a neourethra. This neourethra needs a cover of an intermediate layer in order to have good functional and cosmetic results. Among the various loca...

In this paper, we propose a new supervised learning method whereby information is controlled by the associated cost in an intermediate layer, and in an output layer, errors between targets and outputs are minimized. In the intermediate layer, competition is realized by maximizing mutual information between input patterns and competitive units with Gaussian functions. The process of information ...

CoCrPt films for longitudinal recording media were investigated as a function of substrate bias applied during the deposition. CoCrPt films were deposited on an underlayer stack consisting of glass/NiAl/CrMn with bias applied only during deposition of the CoCrPt layer. A strong dependence of the CoCrPt coercivity on the substrate bias was observed when a thin hexagonal-close-packed CoCrTa templ...

Urethane injection in newborn rats causes a photoreceptor degeneration without initial damage to the retinal pigment epithelium, choriocapillaris, or inner retina. In later stages, retinal vessels become incorporated into the retinal pigment epithelium (RPE) and change from a continuous endothelial cell phenotype to a fenestrated phenotype. At the light-microscopic level, there do not appear to...